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<a href="#nested-classes">类</a> &#124;
<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
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<div class="title">pcl::ColorModality&lt; PointInT &gt; 模板类 参考</div>  </div>
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类 pcl::ColorModality&lt; PointInT &gt; 继承关系图:</div>
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类</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1_color_modality_1_1_candidate.html">Candidate</a></td></tr>
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Public 类型</h2></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudIn</b></td></tr>
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<tr class="inherit_header pub_types_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointInT &gt;</a></td></tr>
<tr class="memitem:ae2f6f6863a73337858b7a7a054eaae4f inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ae2f6f6863a73337858b7a7a054eaae4f"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> const &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesConstPtr</b></td></tr>
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Public 成员函数</h2></td></tr>
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<a class="el" href="classpcl_1_1_quantized_map.html">QuantizedMap</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_color_modality.html#aca5cc28d46b53912671dd766e3c9be1e">getQuantizedMap</a> ()</td></tr>
<tr class="memdesc:aca5cc28d46b53912671dd766e3c9be1e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns a reference to the internally computed quantized map. <br /></td></tr>
<tr class="separator:aca5cc28d46b53912671dd766e3c9be1e"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<a class="el" href="classpcl_1_1_quantized_map.html">QuantizedMap</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_color_modality.html#a51f8015dd64216afd3a9d13b78c9b536">getSpreadedQuantizedMap</a> ()</td></tr>
<tr class="memdesc:a51f8015dd64216afd3a9d13b78c9b536"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns a reference to the internally computed spreaded quantized map. <br /></td></tr>
<tr class="separator:a51f8015dd64216afd3a9d13b78c9b536"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af815cbc002c60329f1f910a6e4e1002e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_color_modality.html#af815cbc002c60329f1f910a6e4e1002e">extractFeatures</a> (const <a class="el" href="classpcl_1_1_mask_map.html">MaskMap</a> &amp;mask, size_t nr_features, size_t modalityIndex, std::vector&lt; <a class="el" href="structpcl_1_1_quantized_multi_mod_feature.html">QuantizedMultiModFeature</a> &gt; &amp;features) const</td></tr>
<tr class="memdesc:af815cbc002c60329f1f910a6e4e1002e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extracts features from this modality within the specified mask.  <a href="classpcl_1_1_color_modality.html#af815cbc002c60329f1f910a6e4e1002e">更多...</a><br /></td></tr>
<tr class="separator:af815cbc002c60329f1f910a6e4e1002e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3a93b802791286862cc878dd03415a48"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_color_modality.html#a3a93b802791286862cc878dd03415a48">setInputCloud</a> (const typename PointCloudIn::ConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a3a93b802791286862cc878dd03415a48"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input dataset (overwrites the <a class="el" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea" title="Provide a pointer to the input dataset">PCLBase::setInputCloud</a> method)  <a href="classpcl_1_1_color_modality.html#a3a93b802791286862cc878dd03415a48">更多...</a><br /></td></tr>
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virtual void&#160;</td><td class="memItemRight" valign="bottom"><b>processInputData</b> ()</td></tr>
<tr class="separator:ada2e67cf4c7aad77ef8976286b058076"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_quantizable_modality"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_quantizable_modality')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_quantizable_modality.html">pcl::QuantizableModality</a></td></tr>
<tr class="memitem:ac5ad62e71b105d82681d68a3ecbaf8e6 inherit pub_methods_classpcl_1_1_quantizable_modality"><td class="memItemLeft" align="right" valign="top"><a id="ac5ad62e71b105d82681d68a3ecbaf8e6"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_quantizable_modality.html#ac5ad62e71b105d82681d68a3ecbaf8e6">QuantizableModality</a> ()</td></tr>
<tr class="memdesc:ac5ad62e71b105d82681d68a3ecbaf8e6 inherit pub_methods_classpcl_1_1_quantizable_modality"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <br /></td></tr>
<tr class="separator:ac5ad62e71b105d82681d68a3ecbaf8e6 inherit pub_methods_classpcl_1_1_quantizable_modality"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae6a753df93cbb291891d868aceadb67a inherit pub_methods_classpcl_1_1_quantizable_modality"><td class="memItemLeft" align="right" valign="top"><a id="ae6a753df93cbb291891d868aceadb67a"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_quantizable_modality.html#ae6a753df93cbb291891d868aceadb67a">~QuantizableModality</a> ()</td></tr>
<tr class="memdesc:ae6a753df93cbb291891d868aceadb67a inherit pub_methods_classpcl_1_1_quantizable_modality"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
<tr class="separator:ae6a753df93cbb291891d868aceadb67a inherit pub_methods_classpcl_1_1_quantizable_modality"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5467be331d8ee3d4daf9959befef9ef6 inherit pub_methods_classpcl_1_1_quantizable_modality"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_quantizable_modality.html#a5467be331d8ee3d4daf9959befef9ef6">extractAllFeatures</a> (const <a class="el" href="classpcl_1_1_mask_map.html">MaskMap</a> &amp;mask, size_t nr_features, size_t modality_index, std::vector&lt; <a class="el" href="structpcl_1_1_quantized_multi_mod_feature.html">QuantizedMultiModFeature</a> &gt; &amp;features) const =0</td></tr>
<tr class="memdesc:a5467be331d8ee3d4daf9959befef9ef6 inherit pub_methods_classpcl_1_1_quantizable_modality"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extracts all possible features from the modality within the specified mask.  <a href="classpcl_1_1_quantizable_modality.html#a5467be331d8ee3d4daf9959befef9ef6">更多...</a><br /></td></tr>
<tr class="separator:a5467be331d8ee3d4daf9959befef9ef6 inherit pub_methods_classpcl_1_1_quantizable_modality"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointInT &gt;</a></td></tr>
<tr class="memitem:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="af4fbc5eb005057f8a0fc6d60bde595df"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af4fbc5eb005057f8a0fc6d60bde595df">PCLBase</a> ()</td></tr>
<tr class="memdesc:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a7a6dd7a91275d7737cf1b18005b47244">PCLBase</a> (const <a class="el" href="classpcl_1_1_p_c_l_base.html">PCLBase</a> &amp;base)</td></tr>
<tr class="memdesc:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor. <br /></td></tr>
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<tr class="memitem:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ad5d6846e98e59c37dcc3dc9958d53966"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ad5d6846e98e59c37dcc3dc9958d53966">~PCLBase</a> ()</td></tr>
<tr class="memdesc:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
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<tr class="memitem:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (const PointCloudConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input dataset  <a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">更多...</a><br /></td></tr>
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PointCloudConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a8cd745c4f7a792212f4fc3720b9d46ea">getInputCloud</a> () const</td></tr>
<tr class="memdesc:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the input point cloud dataset. <br /></td></tr>
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<tr class="memitem:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">setIndices</a> (const IndicesPtr &amp;indices)</td></tr>
<tr class="memdesc:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">更多...</a><br /></td></tr>
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<tr class="memitem:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">setIndices</a> (const IndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">更多...</a><br /></td></tr>
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<tr class="memitem:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">setIndices</a> (const PointIndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">更多...</a><br /></td></tr>
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<tr class="memitem:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">setIndices</a> (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)</td></tr>
<tr class="memdesc:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the indices for the points laying within an interest region of the point cloud.  <a href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">更多...</a><br /></td></tr>
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<tr class="memitem:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a058753dd4de73d3d0062fe2e452fba3c"></a>
IndicesPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a058753dd4de73d3d0062fe2e452fba3c">getIndices</a> ()</td></tr>
<tr class="memdesc:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
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<tr class="memitem:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="acae187b37230758959572ceb1e6e2045"></a>
IndicesConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acae187b37230758959572ceb1e6e2045">getIndices</a> () const</td></tr>
<tr class="memdesc:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
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<tr class="memitem:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">const PointInT &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">operator[]</a> (size_t pos) const</td></tr>
<tr class="memdesc:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Override PointCloud operator[] to shorten code  <a href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">更多...</a><br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>quantizeColors</b> ()</td></tr>
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<tr class="memitem:a4e8b096a111499fa88fb59084ae4dffc"><td class="memItemLeft" align="right" valign="top"><a id="a4e8b096a111499fa88fb59084ae4dffc"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>filterQuantizedColors</b> ()</td></tr>
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<tr class="memitem:a0d346c0c4471c63e2f113402cd9c0f6a"><td class="memItemLeft" align="right" valign="top"><a id="a0d346c0c4471c63e2f113402cd9c0f6a"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>computeDistanceMap</b> (const <a class="el" href="classpcl_1_1_mask_map.html">MaskMap</a> &amp;input, <a class="el" href="classpcl_1_1_distance_map.html">DistanceMap</a> &amp;output) const</td></tr>
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<tr class="inherit_header pro_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointInT &gt;</a></td></tr>
<tr class="memitem:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">initCompute</a> ()</td></tr>
<tr class="memdesc:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called before starting the actual computation.  <a href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">更多...</a><br /></td></tr>
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<tr class="memitem:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="afc426c4eebb94b7734d4fa556bff1420"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#afc426c4eebb94b7734d4fa556bff1420">deinitCompute</a> ()</td></tr>
<tr class="memdesc:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called after finishing the actual computation. <br /></td></tr>
<tr class="separator:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
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静态 Protected 成员函数</h2></td></tr>
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static int&#160;</td><td class="memItemRight" valign="bottom"><b>quantizeColorOnRGBExtrema</b> (const float r, const float g, const float b)</td></tr>
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</table><table class="memberdecls">
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Private 属性</h2></td></tr>
<tr class="memitem:a4e15e19d54aaae23c2651d5d05cf1c26"><td class="memItemLeft" align="right" valign="top"><a id="a4e15e19d54aaae23c2651d5d05cf1c26"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><b>feature_distance_threshold_</b></td></tr>
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<tr class="memitem:aecfac93855cb503eb760a2600858d949"><td class="memItemLeft" align="right" valign="top"><a id="aecfac93855cb503eb760a2600858d949"></a>
<a class="el" href="classpcl_1_1_quantized_map.html">pcl::QuantizedMap</a>&#160;</td><td class="memItemRight" valign="bottom"><b>quantized_colors_</b></td></tr>
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<tr class="memitem:aa318195411f9a7475261b3a3d621b54e"><td class="memItemLeft" align="right" valign="top"><a id="aa318195411f9a7475261b3a3d621b54e"></a>
<a class="el" href="classpcl_1_1_quantized_map.html">pcl::QuantizedMap</a>&#160;</td><td class="memItemRight" valign="bottom"><b>filtered_quantized_colors_</b></td></tr>
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<tr class="memitem:a9d7cfe3cc066129fd4955b3458228894"><td class="memItemLeft" align="right" valign="top"><a id="a9d7cfe3cc066129fd4955b3458228894"></a>
<a class="el" href="classpcl_1_1_quantized_map.html">pcl::QuantizedMap</a>&#160;</td><td class="memItemRight" valign="bottom"><b>spreaded_filtered_quantized_colors_</b></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
额外继承的成员函数</h2></td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointInT &gt;</a></td></tr>
<tr class="memitem:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a09c70d8e06e3fb4f07903fe6f8d67869"></a>
PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a></td></tr>
<tr class="memdesc:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">The input point cloud dataset. <br /></td></tr>
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<tr class="memitem:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="aaee847c8a517ebf365bad2cb182a6626"></a>
IndicesPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a></td></tr>
<tr class="memdesc:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the vector of point indices to use. <br /></td></tr>
<tr class="separator:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ada1eadb824d34ca9206a86343d9760bb"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ada1eadb824d34ca9206a86343d9760bb">use_indices_</a></td></tr>
<tr class="memdesc:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if point indices are used. <br /></td></tr>
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<tr class="memitem:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="adadb0299f144528020ed558af6879662"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#adadb0299f144528020ed558af6879662">fake_indices_</a></td></tr>
<tr class="memdesc:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. <br /></td></tr>
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</table>
<h2 class="groupheader">成员函数说明</h2>
<a id="af815cbc002c60329f1f910a6e4e1002e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#af815cbc002c60329f1f910a6e4e1002e">&#9670;&nbsp;</a></span>extractFeatures()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_color_modality.html">pcl::ColorModality</a>&lt; PointInT &gt;::extractFeatures </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_mask_map.html">MaskMap</a> &amp;&#160;</td>
          <td class="paramname"><em>mask</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>nr_features</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>modality_index</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; <a class="el" href="structpcl_1_1_quantized_multi_mod_feature.html">QuantizedMultiModFeature</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>features</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Extracts features from this modality within the specified mask. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">mask</td><td>defines the areas where features are searched in. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">nr_features</td><td>defines the number of features to be extracted (might be less if not sufficient information is present in the modality). </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">modality_index</td><td>the index which is stored in the extracted features. </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">features</td><td>the destination for the extracted features. </td></tr>
  </table>
  </dd>
</dl>

<p>实现了 <a class="el" href="classpcl_1_1_quantizable_modality.html#af7bf03139bffc77e0ed340d9be117406">pcl::QuantizableModality</a>.</p>
<div class="fragment"><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;{</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> width = mask.getWidth ();</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> height = mask.getHeight ();</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  MaskMap mask_maps[8];</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> map_index = 0; map_index &lt; 8; ++map_index)</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    mask_maps[map_index].resize (width, height);</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> map[255];</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  memset(map, 0, 255);</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  map[0x1&lt;&lt;0] = 0;</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  map[0x1&lt;&lt;1] = 1;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  map[0x1&lt;&lt;2] = 2;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  map[0x1&lt;&lt;3] = 3;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  map[0x1&lt;&lt;4] = 4;</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  map[0x1&lt;&lt;5] = 5;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  map[0x1&lt;&lt;6] = 6;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;  map[0x1&lt;&lt;7] = 7;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  QuantizedMap distance_map_indices (width, height);</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  <span class="comment">//memset (distance_map_indices.data, 0, sizeof (distance_map_indices.data[0])*width*height);</span></div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> row_index = 0; row_index &lt; height; ++row_index)</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  {</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> col_index = 0; col_index &lt; width; ++col_index)</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    {</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      <span class="keywordflow">if</span> (mask (col_index, row_index) != 0)</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      {</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        <span class="comment">//const unsigned char quantized_value = quantized_surface_normals_ (row_index, col_index);</span></div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> quantized_value = filtered_quantized_colors_ (col_index, row_index);</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        <span class="keywordflow">if</span> (quantized_value == 0) </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;          <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">int</span> dist_map_index = map[quantized_value];</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160; </div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        distance_map_indices (col_index, row_index) = dist_map_index;</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        <span class="comment">//distance_maps[dist_map_index].at&lt;unsigned char&gt;(row_index, col_index) = 255;</span></div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        mask_maps[dist_map_index] (col_index, row_index) = 255;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      }</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    }</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;  }</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  DistanceMap distance_maps[8];</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> map_index = 0; map_index &lt; 8; ++map_index)</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    computeDistanceMap (mask_maps[map_index], distance_maps[map_index]);</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  std::list&lt;Candidate&gt; list1;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  std::list&lt;Candidate&gt; list2;</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160; </div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  <span class="keywordtype">float</span> weights[8] = {0,0,0,0,0,0,0,0};</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> off = 4;</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> row_index = off; row_index &lt; height-off; ++row_index)</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  {</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> col_index = off; col_index &lt; width-off; ++col_index)</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    {</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      <span class="keywordflow">if</span> (mask (col_index, row_index) != 0)</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;      {</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;        <span class="comment">//const unsigned char quantized_value = quantized_surface_normals_ (row_index, col_index);</span></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> quantized_value = filtered_quantized_colors_ (col_index, row_index);</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;        <span class="comment">//const float nx = surface_normals_ (col_index, row_index).normal_x;</span></div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;        <span class="comment">//const float ny = surface_normals_ (col_index, row_index).normal_y;</span></div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;        <span class="comment">//const float nz = surface_normals_ (col_index, row_index).normal_z;</span></div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160; </div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;        <span class="keywordflow">if</span> (quantized_value != 0)</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;        {</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">int</span> distance_map_index = map[quantized_value];</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160; </div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;          <span class="comment">//const float distance = distance_maps[distance_map_index].at&lt;float&gt; (row_index, col_index);</span></div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">float</span> <a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a> = distance_maps[distance_map_index] (col_index, row_index);</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160; </div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;          <span class="keywordflow">if</span> (distance &gt;= feature_distance_threshold_)</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;          {</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;            Candidate candidate;</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160; </div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;            candidate.distance = <a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a>;</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;            candidate.x = col_index;</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;            candidate.y = row_index;</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;            candidate.bin_index = distance_map_index;</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160; </div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;            list1.push_back (candidate);</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160; </div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;            ++weights[distance_map_index];</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;          }</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;        }</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;      }</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;    }</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;  }</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160; </div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter = list1.begin (); iter != list1.end (); ++iter)</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;    iter-&gt;distance *= 1.0f / weights[iter-&gt;bin_index];</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160; </div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;  list1.sort ();</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160; </div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;  <span class="keywordflow">if</span> (list1.size () &lt;= nr_features)</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;  {</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    features.reserve (list1.size ());</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter = list1.begin (); iter != list1.end (); ++iter)</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;    {</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;      QuantizedMultiModFeature feature;</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160; </div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;      feature.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter-&gt;x);</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;      feature.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter-&gt;y);</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;      feature.modality_index = modality_index;</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;      feature.quantized_value = filtered_quantized_colors_ (iter-&gt;x, iter-&gt;y);</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160; </div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;      features.push_back (feature);</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    }</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160; </div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;  }</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160; </div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;  <span class="keywordtype">int</span> <a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a> = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (list1.size () / nr_features + 1); <span class="comment">// ???  @todo:!:!:!:!:!:!</span></div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;  <span class="keywordflow">while</span> (list2.size () != nr_features)</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;  {</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> sqr_distance = <a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a>*<a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a>;</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter1 = list1.begin (); iter1 != list1.end (); ++iter1)</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;    {</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;      <span class="keywordtype">bool</span> candidate_accepted = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160; </div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;      <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter2 = list2.begin (); iter2 != list2.end (); ++iter2)</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;      {</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">int</span> dx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter1-&gt;x) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter2-&gt;x);</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">int</span> dy = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter1-&gt;y) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter2-&gt;y);</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">int</span> tmp_distance = dx*dx + dy*dy;</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160; </div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;        <span class="keywordflow">if</span> (tmp_distance &lt; sqr_distance)</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;        {</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;          candidate_accepted = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;          <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;        }</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;      }</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160; </div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;      <span class="keywordflow">if</span> (candidate_accepted)</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;        list2.push_back (*iter1);</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160; </div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;      <span class="keywordflow">if</span> (list2.size () == nr_features) <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;    }</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;    --<a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a>;</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;  }</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160; </div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter2 = list2.begin (); iter2 != list2.end (); ++iter2)</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;  {</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;    QuantizedMultiModFeature feature;</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160; </div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;    feature.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter2-&gt;x);</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;    feature.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter2-&gt;y);</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;    feature.modality_index = modality_index;</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;    feature.quantized_value = filtered_quantized_colors_ (iter2-&gt;x, iter2-&gt;y);</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160; </div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;    features.push_back (feature);</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;  }</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;}</div>
<div class="ttc" id="acommon_2include_2pcl_2common_2geometry_8h_html_a2fc89f0c26b7c7377fcd2851fa933b87"><div class="ttname"><a href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">pcl::geometry::distance</a></div><div class="ttdeci">float distance(const PointT &amp;p1, const PointT &amp;p2)</div><div class="ttdef"><b>Definition:</b> geometry.h:60</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a3a93b802791286862cc878dd03415a48">&#9670;&nbsp;</a></span>setInputCloud()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">virtual void <a class="el" href="classpcl_1_1_color_modality.html">pcl::ColorModality</a>&lt; PointInT &gt;::setInputCloud </td>
          <td>(</td>
          <td class="paramtype">const typename PointCloudIn::ConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
  </tr>
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<p>Provide a pointer to the input dataset (overwrites the <a class="el" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea" title="Provide a pointer to the input dataset">PCLBase::setInputCloud</a> method) </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">cloud</td><td>the const boost shared pointer to a <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> message </td></tr>
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<div class="fragment"><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      { </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a> = cloud;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a09c70d8e06e3fb4f07903fe6f8d67869"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">pcl::PCLBase&lt; PointInT &gt;::input_</a></div><div class="ttdeci">PointCloudConstPtr input_</div><div class="ttdoc">The input point cloud dataset.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:150</div></div>
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